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Merge pull request #1294 from SergioRAgostinho/io_load_template
Fix to pcl::io::load and pcl::io::save
2 parents c993e57 + 9a18eed commit 68a85e8

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6 files changed

+394
-245
lines changed

6 files changed

+394
-245
lines changed

‎io/CMakeLists.txt

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@@ -213,6 +213,7 @@ if(build)
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src/hdl_grabber.cpp
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src/robot_eye_grabber.cpp
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src/file_io.cpp
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src/auto_io.cpp
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src/io_exception.cpp
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${VTK_IO_SOURCE}
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${OPENNI_GRABBER_SOURCES}
@@ -242,6 +243,7 @@ if(build)
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"include/pcl/${SUBSYS_NAME}/eigen.h"
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"include/pcl/${SUBSYS_NAME}/debayer.h"
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"include/pcl/${SUBSYS_NAME}/file_io.h"
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"include/pcl/${SUBSYS_NAME}/auto_io.h"
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"include/pcl/${SUBSYS_NAME}/lzf.h"
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"include/pcl/${SUBSYS_NAME}/lzf_image_io.h"
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"include/pcl/${SUBSYS_NAME}/io.h"
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set(impl_incs
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"include/pcl/${SUBSYS_NAME}/impl/pcd_io.hpp"
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"include/pcl/${SUBSYS_NAME}/impl/auto_io.hpp"
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"include/pcl/${SUBSYS_NAME}/impl/lzf_image_io.hpp"
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"include/pcl/${SUBSYS_NAME}/impl/synchronized_queue.hpp"
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"include/pcl/${SUBSYS_NAME}/impl/point_cloud_image_extractors.hpp"

‎io/include/pcl/io/auto_io.h

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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#ifndef PCL_IO_AUTO_IO_H_
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#define PCL_IO_AUTO_IO_H_
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#include <pcl/pcl_macros.h>
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#include <pcl/common/io.h>
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#include <pcl/io/boost.h>
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#include <cmath>
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#include <sstream>
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#include <pcl/PolygonMesh.h>
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#include <pcl/TextureMesh.h>
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namespace pcl
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{
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namespace io
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{
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/** \brief Load a file into a PointCloud2 according to extension.
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* \param[in] file_name the name of the file to load
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* \param[out] blob the resultant pcl::PointCloud2 blob
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* \ingroup io
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*/
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PCL_EXPORTS int
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load (const std::string& file_name, pcl::PCLPointCloud2& blob);
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/** \brief Load a file into a template PointCloud type according to extension.
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* \param[in] file_name the name of the file to load
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* \param[out] cloud the resultant templated point cloud
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* \ingroup io
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*/
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template<typename PointT> int
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load (const std::string& file_name, pcl::PointCloud<PointT>& cloud);
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/** \brief Load a file into a PolygonMesh according to extension.
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* \param[in] file_name the name of the file to load
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* \param[out] mesh the resultant pcl::PolygonMesh
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* \ingroup io
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*/
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PCL_EXPORTS int
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load (const std::string& file_name, pcl::PolygonMesh& mesh);
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/** \brief Load a file into a TextureMesh according to extension.
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* \param[in] file_name the name of the file to load
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* \param[out] mesh the resultant pcl::TextureMesh
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* \ingroup io
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*/
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PCL_EXPORTS int
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load (const std::string& file_name, pcl::TextureMesh& mesh);
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/** \brief Save point cloud data to a binary file when available else to ASCII.
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* \param[in] file_name the output file name
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* \param[in] blob the point cloud data message
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* \param[in] precision float precision when saving to ASCII files
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* \ingroup io
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*/
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PCL_EXPORTS int
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save (const std::string& file_name, const pcl::PCLPointCloud2& blob, unsigned precision = 5);
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/** \brief Save point cloud to a binary file when available else to ASCII.
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud
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* \param[in] precision float precision when saving to ASCII files
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* \ingroup io
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*/
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template<typename PointT> int
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save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud, unsigned precision = 5);
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/** \brief Saves a TextureMesh to a binary file when available else to ASCII.
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* \param[in] file_name the name of the file to write to disk
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* \param[in] tex_mesh the texture mesh to save
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* \param[in] precision float precision when saving to ASCII files
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* \ingroup io
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*/
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PCL_EXPORTS int
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save (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision = 5);
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/** \brief Saves a PolygonMesh to a binary file when available else to ASCII.
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* \param[in] file_name the name of the file to write to disk
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* \param[in] mesh the polygonal mesh to save
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* \param[in] precision float precision when saving to ASCII files
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* \ingroup io
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*/
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PCL_EXPORTS int
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save (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision = 5);
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}
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}
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#include <pcl/io/impl/auto_io.hpp>
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#endif //#ifndef PCL_IO_AUTO_IO_H_

‎io/include/pcl/io/file_io.h

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@@ -390,76 +390,6 @@ namespace pcl
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fields_count * sizeof (uint8_t)], reinterpret_cast<char*> (&value), sizeof (uint8_t));
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}
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namespace io
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{
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/** \brief Load a file into a PointCloud2 according to extension.
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* \param[in] file_name the name of the file to load
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* \param[out] blob the resultant pcl::PointCloud2 blob
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* \ingroup io
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*/
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PCL_EXPORTS int
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load (const std::string& file_name, pcl::PCLPointCloud2& blob);
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/** \brief Load a file into a template PointCloud type according to extension.
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* \param[in] file_name the name of the file to load
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* \param[out] cloud the resultant templated point cloud
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* \ingroup io
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*/
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template<typename PointT> int
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load (const std::string& file_name, pcl::PointCloud<PointT>& cloud);
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/** \brief Load a file into a PolygonMesh according to extension.
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* \param[in] file_name the name of the file to load
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* \param[out] mesh the resultant pcl::PolygonMesh
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* \ingroup io
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*/
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PCL_EXPORTS int
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load (const std::string& file_name, pcl::PolygonMesh& mesh);
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/** \brief Load a file into a TextureMesh according to extension.
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* \param[in] file_name the name of the file to load
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* \param[out] mesh the resultant pcl::TextureMesh
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* \ingroup io
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*/
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PCL_EXPORTS int
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load (const std::string& file_name, pcl::TextureMesh& mesh);
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/** \brief Save point cloud data to a binary file when available else to ASCII.
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* \param[in] file_name the output file name
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* \param[in] blob the point cloud data message
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* \param[in] precision float precision when saving to ASCII files
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* \ingroup io
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*/
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PCL_EXPORTS int
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save (const std::string& file_name, const pcl::PCLPointCloud2& blob, unsigned precision = 5);
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/** \brief Save point cloud to a binary file when available else to ASCII.
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* \param[in] file_name the output file name
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* \param[in] cloud the point cloud
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* \param[in] precision float precision when saving to ASCII files
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* \ingroup io
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*/
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template<typename PointT> int
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save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud, unsigned precision = 5);
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/** \brief Saves a TextureMesh to a binary file when available else to ASCII.
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* \param[in] file_name the name of the file to write to disk
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* \param[in] tex_mesh the texture mesh to save
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* \param[in] precision float precision when saving to ASCII files
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* \ingroup io
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*/
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PCL_EXPORTS int
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save (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision = 5);
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/** \brief Saves a PolygonMesh to a binary file when available else to ASCII.
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* \param[in] file_name the name of the file to write to disk
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* \param[in] mesh the polygonal mesh to save
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* \param[in] precision float precision when saving to ASCII files
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* \ingroup io
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*/
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PCL_EXPORTS int
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save (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision = 5);
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}
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}
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#endif //#ifndef PCL_IO_FILE_IO_H_

‎io/include/pcl/io/impl/auto_io.hpp

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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
12+
*
13+
* * Redistributions of source code must retain the above copyright
14+
* notice, this list of conditions and the following disclaimer.
15+
* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
17+
* disclaimer in the documentation and/or other materials provided
18+
* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
20+
* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
22+
*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25+
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26+
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27+
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28+
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29+
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30+
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31+
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32+
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33+
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34+
* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#ifndef PCL_IO_AUTO_IO_IMPL_H_
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#define PCL_IO_AUTO_IO_IMPL_H_
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// #include <pcl/io/file_io.h>
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// #include <pcl/io/boost.h>
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#include <pcl/io/pcd_io.h>
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#include <pcl/io/ply_io.h>
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#include <pcl/io/ifs_io.h>
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// #include <pcl/io/vtk_io.h>
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namespace pcl
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{
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namespace io
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{
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template<typename PointT> int
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load (const std::string& file_name, pcl::PointCloud<PointT>& cloud)
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{
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boost::filesystem::path p (file_name.c_str ());
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std::string extension = p.extension ().string ();
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int result = -1;
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if (extension == ".pcd")
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result = pcl::io::loadPCDFile (file_name, cloud);
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else if (extension == ".ply")
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result = pcl::io::loadPLYFile (file_name, cloud);
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else if (extension == ".ifs")
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result = pcl::io::loadIFSFile (file_name, cloud);
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else
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{
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PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s", extension.c_str ());
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result = -1;
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}
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return (result);
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}
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template<typename PointT> int
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save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud)
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{
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boost::filesystem::path p (file_name.c_str ());
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std::string extension = p.extension ().string ();
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int result = -1;
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if (extension == ".pcd")
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result = pcl::io::savePCDFile (file_name, cloud, true);
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else if (extension == ".ply")
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result = pcl::io::savePLYFile (file_name, cloud, true);
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else if (extension == ".ifs")
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result = pcl::io::saveIFSFile (file_name, cloud);
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else
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{
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PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s", extension.c_str ());
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result = -1;
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}
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return (result);
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}
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}
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}
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#endif //PCL_IO_AUTO_IO_IMPL_H_

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